#ifndef gyro_H
#define gyro_H

/*
     gyro-AN4682.pdf
		p8
 */

 enum regAddr
     {
       TEMP_OUT_L        = 0x05, // D
       TEMP_OUT_H        = 0x06, // D

       STATUS_M          = 0x07, // D

       INT_CTRL_M        = 0x12, // D
       INT_SRC_M         = 0x13, // D
       INT_THS_L_M       = 0x14, // D
       INT_THS_H_M       = 0x15, // D

       OFFSET_X_L_M      = 0x16, // D
       OFFSET_X_H_M      = 0x17, // D
       OFFSET_Y_L_M      = 0x18, // D
       OFFSET_Y_H_M      = 0x19, // D
       OFFSET_Z_L_M      = 0x1A, // D
       OFFSET_Z_H_M      = 0x1B, // D
       REFERENCE_X       = 0x1C, // D
       REFERENCE_Y       = 0x1D, // D
       REFERENCE_Z       = 0x1E, // D

       CTRL0             = 0x1F, // D
       CTRL1             = 0x20, // D
       CTRL_REG1_A       = 0x20, // DLH, DLM, DLHC
       CTRL2             = 0x21, // D
       CTRL_REG2_A       = 0x21, // DLH, DLM, DLHC
       CTRL3             = 0x22, // D
       CTRL_REG3_A       = 0x22, // DLH, DLM, DLHC
       CTRL4             = 0x23, // D
       CTRL_REG4_A       = 0x23, // DLH, DLM, DLHC
       CTRL5             = 0x24, // D
       CTRL_REG5_A       = 0x24, // DLH, DLM, DLHC
       CTRL6             = 0x25, // D
       CTRL_REG6_A       = 0x25, // DLHC
       HP_FILTER_RESET_A = 0x25, // DLH, DLM
       CTRL7             = 0x26, // D
       REFERENCE_A       = 0x26, // DLH, DLM, DLHC
       STATUS_A          = 0x27, // D
       STATUS_REG_A      = 0x27, // DLH, DLM, DLHC

       OUT_X_L_A         = 0x28,
       OUT_X_H_A         = 0x29,
       OUT_Y_L_A         = 0x2A,
       OUT_Y_H_A         = 0x2B,
       OUT_Z_L_A         = 0x2C,
       OUT_Z_H_A         = 0x2D,

       FIFO_CTRL         = 0x2E, // D
       FIFO_CTRL_REG_A   = 0x2E, // DLHC
       FIFO_SRC          = 0x2F, // D
       FIFO_SRC_REG_A    = 0x2F, // DLHC

       IG_CFG1           = 0x30, // D
       INT1_CFG_A        = 0x30, // DLH, DLM, DLHC
       IG_SRC1           = 0x31, // D
       INT1_SRC_A        = 0x31, // DLH, DLM, DLHC
       IG_THS1           = 0x32, // D
       INT1_THS_A        = 0x32, // DLH, DLM, DLHC
       IG_DUR1           = 0x33, // D
       INT1_DURATION_A   = 0x33, // DLH, DLM, DLHC
       IG_CFG2           = 0x34, // D
       INT2_CFG_A        = 0x34, // DLH, DLM, DLHC
       IG_SRC2           = 0x35, // D
       INT2_SRC_A        = 0x35, // DLH, DLM, DLHC
       IG_THS2           = 0x36, // D
       INT2_THS_A        = 0x36, // DLH, DLM, DLHC
       IG_DUR2           = 0x37, // D
       INT2_DURATION_A   = 0x37, // DLH, DLM, DLHC

       CLICK_CFG         = 0x38, // D
       CLICK_CFG_A       = 0x38, // DLHC
       CLICK_SRC         = 0x39, // D
       CLICK_SRC_A       = 0x39, // DLHC
       CLICK_THS         = 0x3A, // D
       CLICK_THS_A       = 0x3A, // DLHC
       TIME_LIMIT        = 0x3B, // D
       TIME_LIMIT_A      = 0x3B, // DLHC
       TIME_LATENCY      = 0x3C, // D
       TIME_LATENCY_A    = 0x3C, // DLHC
       TIME_WINDOW       = 0x3D, // D
       TIME_WINDOW_A     = 0x3D, // DLHC

       Act_THS           = 0x3E, // D
       Act_DUR           = 0x3F, // D

       CRA_REG_M         = 0x00, // DLH, DLM, DLHC
       CRB_REG_M         = 0x01, // DLH, DLM, DLHC
       MR_REG_M          = 0x02, // DLH, DLM, DLHC

       SR_REG_M          = 0x09, // DLH, DLM, DLHC
       IRA_REG_M         = 0x0A, // DLH, DLM, DLHC
       IRB_REG_M         = 0x0B, // DLH, DLM, DLHC
       IRC_REG_M         = 0x0C, // DLH, DLM, DLHC

       WHO_AM_I          = 0x0F, // D
       WHO_AM_I_M        = 0x0F, // DLM

       TEMP_OUT_H_M      = 0x31, // DLHC
       TEMP_OUT_L_M      = 0x32, // DLHC


       // dummy addresses for registers in different locations on different devices;
       // the library translates these based on device type
       // value with sign flipped is used as index into translated_regs array

       OUT_X_H_M         = -1,
       OUT_X_L_M         = -2,
       OUT_Y_H_M         = -3,
       OUT_Y_L_M         = -4,
       OUT_Z_H_M         = -5,
       OUT_Z_L_M         = -6,
       // update dummy_reg_count if registers are added here!

       // device-specific register addresses

       DLH_OUT_X_H_M     = 0x03,
       DLH_OUT_X_L_M     = 0x04,
       DLH_OUT_Y_H_M     = 0x05,
       DLH_OUT_Y_L_M     = 0x06,
       DLH_OUT_Z_H_M     = 0x07,
       DLH_OUT_Z_L_M     = 0x08,

       DLM_OUT_X_H_M     = 0x03,
       DLM_OUT_X_L_M     = 0x04,
       DLM_OUT_Z_H_M     = 0x05,
       DLM_OUT_Z_L_M     = 0x06,
       DLM_OUT_Y_H_M     = 0x07,
       DLM_OUT_Y_L_M     = 0x08,

       DLHC_OUT_X_H_M    = 0x03,
       DLHC_OUT_X_L_M    = 0x04,
       DLHC_OUT_Z_H_M    = 0x05,
       DLHC_OUT_Z_L_M    = 0x06,
       DLHC_OUT_Y_H_M    = 0x07,
       DLHC_OUT_Y_L_M    = 0x08,

       D_OUT_X_L_M       = 0x08,
       D_OUT_X_H_M       = 0x09,
       D_OUT_Y_L_M       = 0x0A,
       D_OUT_Y_H_M       = 0x0B,
       D_OUT_Z_L_M       = 0x0C,
       D_OUT_Z_H_M       = 0x0D
     };


void gyro_init();

void gyro_write_reg(unsigned char reg, unsigned char v);
unsigned gyro_read_reg(unsigned char reg);

unsigned gyro_get_whoami();

void readgyro();
float readPressureInchesMillibars();

#endif
